WO2015158240A1

WO2015158240A1 - Obstacle avoidance walking method of self-moving robot

Info

Publication number: WO2015158240A1
Application number: PCT/CN2015/076510
Authority: WO
Inventors: 汤进举
Original assignee: 科沃斯机器人有限公司
Priority date: 2014-04-14
Filing date: 2015-04-14
Publication date: 2015-10-22
Also published as: CN104972462A; US20170083022A1; EP3133457A4; US11112800B2; US10248126B2; JP2017511549A; CN104972462B; US11768496B2; US20210365030A1; KR102329060B1; EP3133457A1; JP6622215B2; US20190179321A1; EP3133457B1; KR20170008745A

Abstract

An obstacle avoidance walking method of a self-moving robot, comprising: step 1000: a self-moving robot walks along a Y-axis, identifies the position of an obstacle as an obstacle point, and stores the coordinates of the point as a recorded point; step 2000: determining whether a recorded point was previously stored, the coordinates on the Y-axis of the previously stored recorded point being within a numerical value interval formed by the coordinates on the Y-axis of the current obstacle point and a previous obstacle point; step 3000: if yes, then the recorded point is a turning point, and the self-moving robot walks along the X-axis from the current obstacle point toward the turning point to the coordinates on the X-axis of the turning point, deleting the coordinates of the turning point, walking in an area between the point and the current obstacle point, and returning to step 1000; and if not, then the self-moving robot moves a displacement M1 along the X-axis; step 4000: walking in a direction opposite to the original Y-axis walking direction, and returning to step 1000; step 5000: repeating step 1000 to step 4000 until the Y-axis is traversed. The method accurately determines an obstacle position and provides a concise route, and greatly improves the working efficiency of the self-moving robot.

Description

Self-moving robot obstacle avoiding walking method

Technical field

The invention relates to a self-moving robot obstacle avoiding walking method, belonging to the technical field of small household appliance manufacturing.

Background technique

The self-moving robot is widely used for its easy operation and can be used for a variety of purposes including window cleaning, sweeping, and air purification. Self-moving robots often encounter obstacles during the operation process, and can accurately and effectively avoid obstacles during their self-moving walking process, which can greatly provide their work efficiency. Taking the window cleaning robot as an example, in the prior art CN02137830.4, a method for identifying a cleanable area and an obstacle area of an automatic vacuum cleaner is provided. FIG. 1 is a schematic diagram of an existing self-moving robot for obstacle avoidance walking. As shown in FIG. 1, if the movement direction of the self-moving robot is divided into the movement in the horizontal direction (X-axis) and the vertical direction (Y-axis), FIG. 1 shows the self-moving robot scanning along the X-axis direction, in Y. Schematic diagram of obstacle avoidance walking in the axial direction. As shown in Fig. 1, the self-moving robots travel along the reciprocating paths of Y1, Y2, and Y3, respectively, and when encountering the obstacle A4, bypass the obstacle and reciprocate in the vertical direction, encountering an obstacle each time in the vertical direction. After A4, the bypass action is performed. The walking mode of the existing self-moving robot leads to the path on the right side of the obstacle A4, which is repeatedly repeated many times. This large number of repeated walking greatly prolongs the walking time of the robot and seriously affects the working efficiency.

Summary of the invention

The technical problem to be solved by the present invention lies in the deficiencies of the prior art, and provides a self-moving robot obstacle avoiding walking method, which has a clear judgment on the position of the obstacle, a simple walking route, and greatly improves the working efficiency of the self-mobile robot.

The technical problem to be solved by the present invention is achieved by the following technical solutions:

A self-moving robot obstacle avoiding walking method, in which the horizontal direction is the X axis and the vertical direction is the Y axis to establish a plane rectangular coordinate system in the walking area of the self-moving robot, the method specifically includes the following steps:

Step 100: The mobile robot walks along the Y axis. When the mobile robot detects the obstacle along the Y axis, the obstacle point is the upward obstacle point, and the effective uplink obstacle point is the uplink recording point; When the mobile robot detects the obstacle along the Y-axis, the obstacle point is the downward obstacle point, and the effective downlink obstacle point is the downlink recording point;

Step 200: Divide the uplink record point and the downlink record point into the current uplink record point and the previous uplink record point, the current downlink record point, and the previous downlink record point according to the stored sequence;

Step 300: If the current obstacle point is an uplink obstacle point, determine whether the current uplink obstacle point exists before Recording a point in a previous uplink, and the coordinate of the preceding uplink recording point on the Y axis is smaller than the coordinate of the current uplink obstacle point on the Y axis; if the current obstacle point is a downward obstacle point, determining the current downlink obstacle Whether there is a previous downlink recording point before the point, and the coordinate of the previous downlink recording point on the Y axis is greater than the coordinate of the current downlink obstacle point on the Y axis;

Step 400: If the determination result is yes, the previous uplink recording point or the previous downward recording point is a turning point, and the mobile robot walks along the X axis toward the turning point in the obstacle point to the X-axis coordinate of the turning point. Deleting the turning point coordinates, performing the traversal walking of the area between the current obstacle point, and returning to step 100; if the judgment result is no, the self-moving robot moves a displacement amount M1 along the X axis;

Step 500: The mobile robot moves in the reverse direction of the original Y-axis walking direction, and returns to step 100;

Step 600: Cycle step 100 to step 500 until the traversal walking of the walking area is completed.

The uplink obstacle point and the downlink obstacle point may be partially stored or may be stored in the whole. Specifically, when the part is stored, the step 100 specifically includes:

If the current obstacle obstacle point is not the same as the Y coordinate of any preceding uplink record point, the upside obstacle point is a valid up obstacle point; if the current downhole obstacle point and any previous down record point Y coordinate are not The same, the downside obstacle point is a valid downside obstacle point.

When all are stored, the step 100 specifically includes: any uplink obstacle points are effective uplink obstacle points; and any downlink obstacle points are effective downlink obstacle points.

The step 400 specifically includes: if the judgment result is yes, compare the difference between the X-axis coordinate of the uplink record point or the downlink record point satisfying the judgment condition and the X-axis coordinate of the obstacle point, and use the difference record with the largest difference. The point or down record point is the foldback point.

In order to reduce the amount of storage, the step 400 specifically includes: if the determination result is yes, delete all the uplink record points or the downlink record point coordinates that satisfy the judgment condition.

The step 400 specifically includes: if the obstacle is detected again after the mobile robot has not reached the X-axis coordinate of the turning point, the folding point coordinates are deleted and the process proceeds to step 500.

In the step 400, the walking manner in which the robot performs the traversal walking from the turning point to the current obstacle point is the same as the walking manner in the step 600 in which the traversing walking of the walking area is completed.

After the step 400, the method further includes a step 410: determining whether the self-moving robot can walk along the original Y-axis walking direction. If the determination result is yes, the self-moving robot walks along the original Y-axis walking direction, and returns to step 100; Otherwise, proceed to step 500.

The step 410 determines whether the specific content of the mobile robot can walk along the original Y-axis walking direction is:

The mobile robot first walks along the original Y-axis walking direction. If no obstacle is detected after walking for a distance, then It is judged that the self-moving robot can walk along the original Y-axis walking direction; otherwise, it is judged that the self-moving robot cannot walk along the original Y-axis traveling direction.

The side view sensor is provided on the side of the mobile robot. The step 410 determines whether the self-moving robot can walk along the original Y-axis travel direction: the self-mobile robot judges whether it can be along the original Y according to the feedback signal of the side-view sensor. The axis travels in the direction of walking.

The invention also provides a self-moving robot obstacle avoiding walking method, in which the horizontal direction is the X axis and the vertical direction is the Y axis to establish a plane rectangular coordinate system in the walking region of the self-moving robot, and along the X axis or The direction of the Y axis is walking in the forward direction;

The method specifically includes the following steps:

Step 1000: The mobile robot walks along the Y axis. When the obstacle is detected by the mobile robot, the position is set as an obstacle point, and the coordinates of the position are stored to form a recording point;

Step 2000: determining whether a record point is stored first, and the coordinate of the record point on the Y axis is within a numerical interval formed by coordinates of the current obstacle point and the previous obstacle point in the Y axis;

Step 3000: If the judgment result is yes, the recording point is a turning point, and the moving robot walks from the current obstacle point along the X axis toward the turning point to the X-axis coordinate of the turning point, deletes the turning point coordinate, and executes the point to After the traversal of the region between the current obstacle points, the process returns to step 1000;

If the judgment result is no, the self-moving robot moves a displacement amount M1 along the X axis;

Step 4000: The mobile robot moves in the reverse direction of the original Y-axis walking direction, and returns to step 1000;

Step 5000: Loop step 1000 to step 4000 until the Y-axis traverse walk of the walking area is completed.

In summary, the present invention has the advantages that when the self-moving robot encounters an obstacle during the walking of the work, the determination of the coordinates can be avoided at one time, and the area between the obstacle and the boundary of the walking area is respectively completed. Homework; the prior art requires repeated avoidance of walking around obstacles during the work. Therefore, the present invention has a clear judgment on the position of the obstacle, and the walking route is simple, which greatly improves the working efficiency of the self-mobile robot.

The technical solutions of the present invention will be described in detail below with reference to the accompanying drawings and specific embodiments.

DRAWINGS

1 is a schematic diagram of an existing self-moving robot for avoiding obstacles;

2 is a schematic diagram of an obstacle avoidance walking of a mobile robot according to an embodiment of the present invention;

3 is a schematic diagram of a self-moving robot obstacle avoidance walking according to an embodiment of the present invention;

4 is a schematic diagram of an obstacle avoidance walking of a self-mobile robot according to an embodiment of the present invention.

detailed description

Embodiment 1

FIG. 2 is a schematic diagram of an obstacle avoidance walking of a mobile robot according to an embodiment of the present invention. As shown in FIG. 2, the specific obstacle avoidance walking process of the present invention is as follows. First, in the walking area of the self-moving robot, a plane rectangular coordinate system is established with the horizontal direction being the X axis and the vertical direction being the Y axis, and walking along the X and Y axis directions is positive walking, otherwise it is reverse walk.

As shown in Fig. 2, in the present embodiment, the obstacle avoidance walking process of the present invention will be described by taking the walking robot in the Y-axis direction as an example. Specifically, the self-moving robot travels in the walking area 100 from the lower left corner O of the area, and travels forward in the Y-axis direction, and when it moves to the upper edge P of the walking area 100, an obstacle is detected. Object, the obstacle may be the border of the walking area or the borderless cliff boundary, etc., at this time, the coordinates of the point are stored as (X ₀ , Y _P ), after the moving robot moves the M1 distance along the X-axis direction, along the Y Walking in the opposite direction in the axial direction. When it moves to the lower edge Q of the walking area 100, an obstacle is detected, and at this time, the coordinates of the point are stored as (X _Q , Y _Q ). The mobile robot automatically detects and determines whether there is a recording point whose Y coordinate value is within the Y-axis coordinate interval (Y _Q , Y _P ) formed by the stored current coordinate point Q and the stored previous coordinate point P. . As shown in Fig. 2, it is obvious that there is no such recording point, and since the mobile robot shifts the M1 distance in the X-axis direction at the Q point, it continues to walk forward in the Y-axis direction, thus reciprocating the "bow"-shaped path, and simultaneously Each coordinate point at which the obstacle is detected is recorded, and it is judged whether or not the Y-axis coordinate of a recorded point is within the Y-axis coordinate interval formed by the stored current coordinate point and the previous coordinate point. When the moving robot moves to point A, an obstacle is detected, and the coordinates of the point are stored as (X _A , Y _A ), and the coordinates of the point A' of the previous obstacle point of point A are (X _A' , Y _Q ), and there is no obstacle recording point where the Y-axis coordinate is between Y _A and Y _Q , then the moving robot continues to travel along the Y-axis after shifting the M1 distance along the X-axis direction at point A, so that the reciprocating "bow""Glyph path, while recording the coordinates of each point where the obstacle is detected. When the moving robot moves to point C, the coordinates of the point are (X _C , Y _P ), and the point at which the previous obstacle is detected is point F, and the coordinates of the point are (X _B , Y _Q ), obviously The Y coordinate value of the A point, the B1 point, and the B2 point in the stored recording point is between the C point and the F point Y coordinate value, and the X-axis coordinate value X _{A of the} point _{A is} smaller than the X-axis coordinate value of the B point. X _B , then point A is the turning point, and the moving robot moves backward at the point C along the X axis to the point D which is equal to the X coordinate of point A. At this time, to prevent the self-moving robot from returning to the repeated walking again, delete A and B. The point and each recording point equal to its Y coordinate start the traversal walking from the point D to the point C. During this process, the coordinate point is no longer stored when the mobile robot detects the obstacle until it moves to point C again. The axis then resumes storing the coordinate points when the obstacle is detected, and returns to the conventional reciprocating "bow" type walking mode. In the present embodiment, the walking mode adopted by the traversal walking from the point D to the point C is also a reciprocating "bow"-shaped walking. It should be noted that the walking is not limited to the "bow" shape, and other walking is adopted. Patterns, such as the "back" shape walk, can also achieve the same technical effect. As shown in FIG. 2, the walking path of the self-moving robot is: O→P→Q→A→B→F→G→C→D→N→E→C→G.

That is to say, in the first embodiment, by recording the coordinates of the obstacle point, a recording point is formed, and during the movement of the self-moving robot, it is judged whether or not there is a Y-axis coordinate of a recording point at the current obstacle point and the previous obstacle point Y. In the axis coordinate interval, if present, the record point is a turn-back point, and the self-moving robot returns from the current obstacle point to the turn-back point, wherein if there are multiple record points satisfying the judgment condition, all the record points satisfying the judgment condition are compared. The difference between the X-axis coordinate and the X-axis coordinate at the obstacle point, and the record point with the largest difference is the fold-back point; if not, the self-moving robot reverses the Y1 distance after shifting the M1 distance from the current obstacle point along the X-axis Exercise, returning to the regular reciprocating "bow" walking style.

In summary, the present invention provides a self-moving robot obstacle avoiding walking method. In the walking region of the self-moving robot, a plane orthogonal coordinate system is established with a horizontal direction as an X axis and a vertical direction as a Y axis. Walking in the direction of the X-axis or the Y-axis for forward walking;

The method specifically includes the following steps:

Embodiment 2

FIG. 3 is a schematic diagram of the obstacle avoidance walking of the self-mobile robot according to the second embodiment of the present invention. As shown in FIG. 3, in this embodiment, it is also required to establish a plane rectangular coordinate system in the horizontal direction of the X-axis and the vertical direction as the Y-axis in the walking area of the self-moving robot, and set along the X and Y axes. Walking in the direction is positive walking, otherwise walking in reverse. At the same time, the coordinates of the point where the self-moving robot walks along the Y-axis in the forward direction and hit the obstacle correspond to the coordinates of the upward obstacle point; the coordinates of the point where the mobile robot moves backward along the Y-axis and touch the obstacle are the downward obstacles. Point coordinates. Same For example, if the self-moving robot is walking along the X-axis and encounters an obstacle, the coordinates of the point correspond to the coordinates of the right-hand obstacle point; the coordinates of the point at which the mobile robot moves backward along the X-axis and hit the obstacle are Left line obstacle point coordinates.

The coordinates of the upward obstacle point and the descending obstacle point are stored separately from the mobile robot, and the points with the same Y-axis coordinates are stored only once in the up-going obstacle point or the descending obstacle point. Specifically, in conjunction with FIG. 3, the coordinates (X _O , Y _P ) of the upward obstacle point P are detected when the mobile robot walks to the P point, and there is no uplink record equal to the P-point Y-axis coordinate Y _P before the P point. Point, point P is a valid up-going obstacle point, storing P point coordinates as an up-record point, and in the walking area between point P and point A, all the upward obstacle points have the same Y-axis coordinate as the P-point Y-axis coordinate Therefore, the upward obstacle points in the area are invalid upward obstacle points, and the coordinates are not stored. For the same reason, among the downward obstacle points in the area, only the coordinates of the downward obstacle point Q (X _Q , Y) _Q ) Store. When the self-moving robot walks forward to the A along the Y-axis, when the obstacle is hit, the coordinates of the point (X _A , Y _A ) are compared with the stored coordinates of the upstream recorded point, and the stored upstream recording point at this time only the point P, because the a point Y coordinate Y _a point P Y-axis coordinate Y _P are not equal, the coordinates _(X-a, Y _a) impairment point a is stored in the uplink is an uplink recording point, and because Y _a, The coordinate value is less than Y _P , and the mobile robot translates the M1 distance along the X axis at A. The self-moving robot first determines whether it can continue to travel along the walking direction before the shift, and the original direction is the Y-axis positive direction. If yes, continue to walk along the Y axis. If not, walk backwards along the Y axis. At this time, the mobile robot obviously cannot travel in the positive direction along the Y axis. Therefore, the mobile robot moves backward along the Y axis. Move down the Y axis. In the walking area between point A and point B1, the Y-axis coordinates of all the upward obstacle points are the same as the A-axis Y-axis coordinates, so the coordinates of the upward obstacle points in the area are not stored, when the self-mobile robot walks to B1 At the time of the detection, the obstacle is detected, and the coordinates at B1 are also compared with the previously stored coordinates of the upper recorded point. Since the Y coordinate of point P and point A is greater than or equal to the Y coordinate of point B1, the self-moving robot is at B1. Move the M1 distance along the X axis and move to point B. At this point, at point B, the self-moving robot needs to determine whether it can move upward along the original Y-axis direction. Obviously, it can move upward along the original Y-axis direction, so the self-moving robot continues to move to point C. When moving from the mobile robot to point C, the C point coordinates are compared with the previously recorded P point and the Y axis coordinate of point A, and it is obvious that the Y axis coordinate of point A is smaller than the Y axis coordinate of point C. The point A is used as the turning point, and the moving robot moves from the point C in the X-axis direction to the point D which is the same as the X-axis coordinate of the point A, and then travels in the Y-axis direction. The record of point A is deleted at this time. Then the reciprocating "bow" shaped path moves from point D to point E. During this process, the coordinate point is no longer stored when the mobile robot detects the obstacle, until the movement to point E (excluding point E) restarts the storage. Obstacles. At this point, as described above at point B, the self-moving robot needs to determine whether it can move downward along the original Y-axis direction, and if so, continue moving from point E to point G; if not, along the Y-axis Move up (not shown). Then resume the normal reciprocating "bow" shaped path from point G. As shown in FIG. 3, the walking path of the self-moving robot is: O→P→Q→A→B→C→D→N→E→G.

Compared with the first embodiment, the second embodiment has two differences. First: the concept of up and down is defined for the direction in which the mobile robot travels along the Y axis. When the mobile robot is walking in the positive direction along the Y axis, the coordinates of the obstacle points with the same Y coordinate in the upward obstacle point need not be stored, but only The obstacle points with different Y-axis coordinates are stored to form a recording point. During the movement of the self-moving robot, it is only necessary to judge whether the Y-axis coordinate of a certain recording point is smaller than the Y-axis coordinate of the current obstacle point in the previously recorded upstream recording point, and if so, the self-moving robot from the current obstacle point Return to the X-axis coordinate of the record point; if not, the self-moving robot translates the M1 distance along the X-axis from the current obstacle point. Second: when the mobile robot detects the obstacle M1 distance, it adds a judgment on whether the self-mobile robot can continue walking according to the walking direction before the translation, and if so, continues to walk according to the walking direction before the translation, if no , then walk in the opposite direction of the walking direction before translation. Adding such a judging step in the present embodiment can further simplify the walking path and improve the working efficiency of the self-mobile robot.

It should be noted that although in the present embodiment, the concept of the uplink and the downlink is defined for the direction in which the mobile robot travels along the Y axis, and in order to reduce the amount of data storage, the Y coordinate of the uplink obstacle point or the downlink obstacle point is the same. The obstacle point is stored only once, but the travel path shown in Fig. 3 can also be realized by storing all the obstacle point coordinates. In addition, in order to optimize the walking path, the mobile robot moves the M1 distance of the obstacle after the obstacle is moved, and the walking obstacle is not limited to the limiting condition, for example, Excluding the restriction condition, the walking path shown in FIG. 2 can be completed since the mobile robot always walks in a reciprocating "bow" shape path.

Embodiment 3

4 is a schematic diagram of an obstacle avoidance walking of a self-mobile robot according to an embodiment of the present invention. As shown in Fig. 4, this embodiment is a further optimization based on the foregoing two embodiments. When the mobile robot encounters an obstacle at point A, the coordinates of the point are recorded, and the motion moves to point C and encounters an obstacle, and the Y-axis coordinate value of point A is smaller than the Y-axis coordinate value of point C, and the self-moving robot follows In the previous control method, point A is used as the turning point. It should be moved in the X-axis direction at the point C to the same position as the X-axis coordinate of point A, but the blocking of the obstacle M is detected. At this time, the turning point A is deleted. The coordinates of the point move from point C down the Y axis to point B, and at point B, the M1 distance is translated along the X axis to point D, and the normal reciprocating "bow" shaped path is resumed from point D. As shown in FIG. 4, the walking path of the self-moving robot is: A→B→C→B→D.

The third embodiment further increases the step of further judging and controlling the self-moving robot during the walking along the Y-axis or the X-axis direction, and the obstacles are required to be turned according to the control method, and the steps provided in the first and second embodiments are provided. The control method is improved.

In the above three embodiments, only the obstacle avoidance method of walking from the mobile robot in the Y-axis direction has been described. Obviously, the above method is also applicable when the self-moving robot walks in the X-axis direction. In addition, the rectangular coordinate system is established in the horizontal direction as the X-axis and the vertical direction as the Y-axis to facilitate the description of the walking path, but the present invention is not limited to the horizontal direction and the vertical direction, and the coordinate system can be established in other two perpendicular directions. , such as east-west direction and north-south direction.

In summary, the present invention provides a self-moving robot obstacle avoiding walking method. In the walking region of the self-moving robot, a plane rectangular coordinate system is established with a horizontal direction as an X axis and a vertical direction as a Y axis. The method specifically includes The following steps:

Step 300: If the current obstacle point is an uplink obstacle point, determine whether there is a previous uplink recording point before the current uplink obstacle point, and the coordinate of the previous uplink recording point on the Y axis is smaller than the current uplink obstacle point. The coordinate on the Y axis; if the current obstacle point is a downward obstacle point, it is determined whether there is a previous downlink recording point before the current downlink obstacle point, and the coordinate of the previous downlink recording point on the Y axis is greater than the current downlink The coordinates of the obstacle point on the Y axis;

The step 100 specifically includes:

Alternatively, the step 100 specifically includes:

Any upside obstacle points are effective upside obstacle points; any downside obstacle points are effective downside obstacle points.

The step 400 specifically includes: if the determination result is yes, delete all the uplink record points or the downlink record point coordinates that satisfy the judgment condition.

The self-moving robot first walks along the original Y-axis walking direction. If no obstacle is detected after walking for a certain distance, it is judged that the self-moving robot can walk along the original Y-axis walking direction. Otherwise, it is judged that the self-moving robot cannot walk along the original Y-axis. Walking in the direction.

Comparing FIG. 1 with FIG. 2 to FIG. 4, the advantage of the present invention is that when the self-moving robot encounters an obstacle during the walking of the work, the obstacle can be avoided by the judgment of the coordinate, and the obstacle is surrounded and walked separately. The work in the area between the boundaries of the area; the prior art requires repeated avoidance of walking around the obstacle during the operation. Therefore, the present invention has a clear judgment on the position of the obstacle, and the walking route is simple, which greatly improves the working efficiency of the self-mobile robot.

Claims

A self-moving robot obstacle avoidance walking method, in which a horizontal coordinate is an X-axis and a vertical direction is a Y-axis to establish a plane rectangular coordinate system in the walking region of the self-moving robot, wherein the method specifically includes the following steps :

Step 100: The mobile robot walks along the Y axis. When the mobile robot detects the obstacle along the Y axis, the obstacle point is the upward obstacle point, and the effective uplink obstacle point is the uplink recording point; When the mobile robot detects the obstacle along the Y-axis, the obstacle point is the downward obstacle point, and the effective downlink obstacle point is the downlink recording point;

Step 200: Divide the uplink record point and the downlink record point into the current uplink record point and the previous uplink record point, the current downlink record point, and the previous downlink record point according to the stored sequence;

Step 300: If the current obstacle point is an uplink obstacle point, determine whether there is a previous uplink recording point before the current uplink obstacle point, and the coordinate of the previous uplink recording point on the Y axis is smaller than the current uplink obstacle point. The coordinate on the Y axis; if the current obstacle point is a downward obstacle point, it is determined whether there is a previous downlink recording point before the current downlink obstacle point, and the coordinate of the previous downlink recording point on the Y axis is greater than the current downlink The coordinates of the obstacle point on the Y axis;

Step 400: If the determination result is yes, the previous uplink recording point or the previous downward recording point is a turning point, and the mobile robot walks along the X axis toward the turning point in the obstacle point to the X-axis coordinate of the turning point. Deleting the turning point coordinates, performing the traversal walking of the area between the current obstacle point, and returning to step 100; if the judgment result is no, the self-moving robot moves a displacement amount M1 along the X axis;

Step 500: The mobile robot moves in the reverse direction of the original Y-axis walking direction, and returns to step 100;

Step 600: Cycle step 100 to step 500 until the traversal walking of the walking area is completed.
The self-moving robot obstacle avoidance walking method according to claim 1, wherein the step 100 specifically includes:

If the current obstacle obstacle point is not the same as the Y coordinate of any preceding uplink record point, the upside obstacle point is a valid up obstacle point; if the current downhole obstacle point and any previous down record point Y coordinate are not The same, the downside obstacle point is a valid downside obstacle point.
The self-moving robot obstacle avoidance walking method according to claim 1, wherein the step 100 specifically includes:

Any upside obstacle points are effective upside obstacle points; any downside obstacle points are effective downside obstacle points.
The self-moving robot obstacle avoidance walking method according to claim 3, wherein the step 400 further comprises: if the determination result is yes, comparing all the X-axis coordinates of the uplink record point or the downlink record point satisfying the judgment condition The difference between the X-axis coordinates of the obstacle point and the upstream record point or the downstream record point with the largest difference is the return point.
The self-moving robot barrier walking method according to claim 4, wherein the step 400 further comprises: if the determination result is yes, deleting all the coordinates of the upstream record point or the downlink record point satisfying the determination condition.
The self-moving robot obstacle avoidance walking method according to claim 1, wherein the step 400 specifically includes: deleting the foldback if the obstacle is detected again from the X-axis coordinate of the returning point of the returning robot. After the point coordinates, the process proceeds to step 500.
The self-moving robot obstacle avoidance walking method according to claim 1, wherein in the step 400, the robot performs a walking manner of traversing walking from the turning point to the current obstacle point and completing the walking in step 600. The traversal walking of the area walks in the same way.
The self-moving robot obstacle avoidance walking method according to any one of claims 1 to 7, wherein the step 400 further comprises a step 410 of: determining whether the self-moving robot can walk along the original Y-axis walking direction, if judging As a result, the mobile robot travels in the original Y-axis traveling direction, and returns to step 100. If the determination result is negative, the process proceeds to step 500.
The self-moving robot obstacle avoiding walking method according to claim 8, wherein the step 410 determines whether the self-moving robot can walk along the original Y-axis walking direction:

The self-moving robot first walks along the original Y-axis walking direction. If no obstacle is detected after walking for a certain distance, it is judged that the self-moving robot can walk along the original Y-axis walking direction. Otherwise, it is judged that the self-moving robot cannot walk along the original Y-axis. Walking in the direction.
The self-moving robot obstacle avoidance walking method according to claim 8, wherein a side view sensor is provided from a side of the mobile robot, and the step 410 determines whether the self-moving robot can travel along the original Y-axis. The specific content of walking is:

The self-moving robot judges whether it is possible to walk along the original Y-axis traveling direction based on the feedback signal of the side-view sensor.
A self-moving robot obstacle avoiding walking method, in which the horizontal direction is the X axis and the vertical direction is the Y axis to establish a plane rectangular coordinate system in the walking region of the self-moving robot, and the direction along the X axis or the Y axis Walking for positive walking;

The method is characterized in that the method specifically includes the following steps:

Step 1000: The mobile robot walks along the Y axis. When the obstacle is detected by the mobile robot, the position is set as an obstacle point, and the coordinates of the position are stored to form a recording point;

Step 2000: determining whether a record point is stored first, and the coordinate of the record point on the Y axis is within a numerical interval formed by coordinates of the current obstacle point and the previous obstacle point in the Y axis;

Step 3000: If the judgment result is yes, the recording point is a turning point, and the moving robot walks from the current obstacle point along the X axis toward the turning point to the X-axis coordinate of the turning point, deletes the turning point coordinate, and executes the point to After the traversal of the region between the current obstacle points, the process returns to step 1000;

If the judgment result is no, the self-moving robot moves a displacement amount M1 along the X axis;

Step 4000: The mobile robot moves in the reverse direction of the original Y-axis walking direction, and returns to step 1000;

Step 5000: Loop step 1000 to step 4000 until the Y-axis traverse walk of the walking area is completed.